Gyro-control mechanism



Oct. 4, 1949. w. H. Nf-:wELL ETAL GYRO-CONTROL MECHANISM Original Filed Mav 5, 1944 INVENTORS WILLIAMH.NEWELL f f L ATTORNEY LAWRENCE SSROWN l; L n /u JAMES D. TE

vention.

Patented Oct. 4, 1949 GYRGCONTROL DIECHANISM William H. Newell, New York, James D. Tear.

Great Neck, and Lawrence S. Brown, Long lsland City, N. Y.. assignors to The Sperry Corporation, a corporation of Delaware Original application May 5, 1944, Serial N0. 534,330. Divided and this application June 2, 1945, Serial No. 597,294

4 claims. l

This invention relates to gyro-control mechanism for gun mounts and has for an object the provision of novel and improved features of construction and operating characteristics for applying precessing forces to the gyroscope and for controlling hydraulic follow-up mechanism from the gyroscope.

This application is a division of the co-pending application of Newell, Tear and Brown, Serial No. 534,330 filed May 5, 1944 for Automatic gun con.- trol system.

Although the novel features which are believed to be characteristic of this invention are pointed out `more particularly in the claims appended hereto, the nature of the invention will be better understood by referring to the following description, taken in connection with the accompanying drawings in which a specific embodiment thereof has been set forth for purposes of illustration.

In the drawings, n

Fig. 1 is a diagrammatic view showing a gyro-v scope and control mechanism embodying the present invention; and

Fig. 2 is a sectional detail view of the tsrque motors for applying precessing force to the Syroscope.

Certain specific terms are used herein for con- Y venience in referring to various details of the iri- These terms, however, are to be given an interpretation commensurate kwith the state of the art.

The gyro-control apparatus comprises a gyroscope 300 of standard construction including a casing which is attached by trunnions to a train gimbal frame 302 and by a pivoted bail 303 to an elevation gimbal 304. The elevation gimbal 304 is mounted by trunnions 305 in a bracket 306 which is fixed to a pedestal 301 attached to the box 40. The train gimbal frame 302 is pivotally mounted at its lower end in the pedestal 301 and at its upper end in the box 40 for rotation about a vertical axis. The bail 303 is connected to the elevation glmbal 304 by a pin 308.

A collimator unit 3|0 is mounted on the box 40 within the train gimbal frame 302 and in alignment with the vertical axis about which the train gimbal frame rotates.

The collimator unit 3|0 comprises a lamp 3|| and-a collimator lens system 3|2 which is arranged to direct the rays from the lamp 3|| vertically upward. Interposed between the lamp 3| and the lens system 3|2 is a diffusing glass 3|3 and an iris diaphragm 3|4 which is adjustable in opening by means of an arm 3|5 to which a link 3|@ is pivotally attached.

The link 3|6 is also pivotaily attached to an arm 3|1 carried by a shaft 3|8 which is connected through bevelled gears 3|9. shaft 320 and pinion 32| to a rack 322 which constitutes the output element of a rangevdivider mechanism 323. One of the input elements of the range divider 323 comprises an L-shaped member 324 having as one leg the rack |62 which is driven by the pinion ISI oi' a range shaft |50 and having as the other leg a horizontal arm 325 provided with a slot 328 within which a pin 328 slides. The pin 328 is carried on a sleeve 329 which slides on a pivoted arm 330 connected to the rack 322. The other input member to the range divider ccmprises a rack 335 having a vertical arm 336 provided with a slot 331 in which the pin 320 slides. The rack 335 is actuated to represent target size by a pinion 340 mounted on a shaft 34| which is adjusted through bevelled gears 342 by means of a shaft 343 and an adjusting knob 344 which is accessible from the front of the box 40. A target size dial 345 is driven by the shaft 34| through bevelled gears 340. The dial 345 is visible from the front of the box 40. The adjusting knob 344 is adapted to be adjusted in accordance with the known size of the target.

It is well known that with a stadia type range finder the range of the target is proportional to the width or size of th target divided by the subtended angle. The divider mechanism 323 performs this division. The position of the rack 322 represents the angle .subtended by the target. The opening of the iris 3|4 is controlled from rack 322 to be proportional to the position of rack 322. The position of the range shaft is adjusted by the gunner so that the image of the iris which he sees just encompasses the target. Having set the proper target size or width on the dial 345 the correct range will be introduced into the computing mechanism by shaft |60. For short ranges the time of flight may be considered as proportional to the range. Therefore, the value intro duced into the deflection computing mechanism by shaft |60 may be considered as representing time of flight (T).

Immediately above the collimator is a mirror 350 mounted on trunnions 253 by which it is pivoted to the train gimbal frame 302 in bushings 35| for tilting movement about a horizontal axis and controlled by an arm 352 which is attached to one of the trunnions 353. This mirror is partially silvered so as to be transparent and at the same time to reflect rays striking it from the collimator lens system 3|2. The mirror 350 is moved by the gyroscope 300 through a linkage comprising 3 a link 355 pivotally connected to the arm 352 and to arm 356 of equal length. Arm 356 constitutes one arm of a bell crank lever having a second arm 351. The bell crank lever is pivoted on a trunnion 358 mounted on the frame 382 and is actuated by a pin 368 engaging a slot in the end of an arm 351 and carried on an arm 36| attached to the trunnion 38| of the gym-housing. The arm 36| is equal in length to the spacing between the gyro-trunnion 38| and the bell crank trunnion 358. By this arrangement the tilting movement of the gyro-housing about a horizontal axis produces a pivotal movement of the mirror 358 through one-half of the angle of movement of the gyroscope, so that the rays from the collimator 3|8 as reflected bythe mirror always remain parallel to the spin axis of the gyroscope.

The precessing force for causing the gyroscope 388 to precess in elevation is applied through the shaft 364 of a hydraulic elevation precessing motor 365 to be described having an arm 366 attached to a link 361 which, in turn, is attached to an arm 368 carried by the train gimbal frame 382.

The train precessing force is applied by a train precessing motor 31.8 to be described, through a shaft 31|, bevelled gears 312, shaft 313, arm 314, link 315 and arm 316 which is attached to the elevation gimbal 384.

Movement cf the train gimbal frame 382 in train which corresponds to4 movement in train of the spin axis of the gyro 388, is transferred by the link 361 to an arm 388 attached to the train shaft 685 of a hydraulic follow-up valve mechanism 582. Movement of the spin axis of the gyro 388 in elevation is transferred from the elevation gimbal 384 through the shaft 313 and bevelled gears 38| to the elevation shaft 685e of the follow-up valve mechanism. The mirror 358 is positioned in an upper projection of the box in the line of sight of the observer.

Control pressures Pt and Pe derived from a suitable source are supplied to the train and elevation precessing force motors 318 and 365 by the ducts 5|2 and 5|3 respectively. The motor 318 comprises a block 588 having two arcuate chambers in which vanes 58| and 582 are positioned. These vanes separate the arcuate chambers into Pt chambers 583 and 584 and P1 chambers 585 and 586. The Pi chambers' are in communication through a passage 581 in the hub 588 carrying the vanes 58| and 582. The Pt chambers 583 and 584 are likewise in communication through a passage 583 in said hub. The chamber 583 communicates through-a passage 588 in the block'588 with the Pt duct 5|2. The chamber 585 communicates through a passage 58| in block 588 with a duct A581 which communicates with a suitable source of pressure Pi. When the pressure Pt equals the pressure P1 the pressures in the various chambers of the motor 318 are balanced and no precessing torque is applied by the motor. If, however, the pressure P t varies from the pressure P1, a corresponding torque is produced which is applied to the shaft 31| and thence through the bevelled gears 312 and the linkage mechanism above described to the elevation gimbal 384, to apply a torque to the gyroscope 388 which causes the same to precess about its vertical axis. The rate of precession thus produced corresponds to the force supplied. Hence the rate of train of the gyroscope is proportional to the pressure Pt.

The elevation precessing force motor 355 is similar to the motor 318. The corresponding parts 4 have accordingly been given corresponding reference characters with the suflix e to indicate elevation precession force. In a manner similar to that above described, a torque is produced in the hub 583e which is applied by the shaft 364 only to be limited in accordance with the scope of the following claims.

What is claimed is:

i. A gym-control mechanism comprising a gyroscope. a train gimbal frame carrying said gyroscope for movement in train, an elevation gimbal connected to move in elevation with said gyroscope, a precession torque motor including a rotor, hydraulic means supplying pressure to exert a rotational force on said rotorI means including mechanical linkages connecting said rotor to turn in response to movement of said train gimbal frame, said mechanical linkages being adapted to transfer vtorque from said rotor to said frame to cause said gyroscope to precess in elevation, a second precession torque motor including a rotor, and means including mechanical linkages connecting said second rotor to turn in response to movement of said elevation gimbal, said second mechanical linkages being adapted to apply torque from said second rotor to said elevation gimbal to cause said gyroscope to precess in train.

2. A gyro-control mechanism comprising a gylroscope. a train gimbal frame carrying said gyroscope for movement in train, an elevation gimbal connected to move in elevation with said gyroscope, a precession torque motor including a .otor mounted for movement about an axis parallel to the axis ofy said train gimbal frame, hydraulic means supplying pressure to exert a torque on said rotor, a. link connecting said rotor to turn with said train gimbal frame and also to transfer said torque to said frame to cause said gyroscope to precess in elevation. a second precession torque motor including a rotor, and means connecting. said second rotor to turn in response to movement of said elevation gimbal and also to apply torque from said second rotor to said elevation gimbal to cause said gyroscope to precess in train.

3. A gyro-control mechanism comprising a gyroswpe, a train gimbal frame carrying said gyroscope for movement in train, a precession torque motor including a rotor mounted for movement about an axis parallel to the axis of said train gimbal frame, hydraulic means supplying pressure to exert a torque on said rotor, .and means connecting said rotor to turn with said train gimbal frame and also to transfer said torque forcefrom said rotor to said frame to cause said gyroscope to precess in elevation.

85 4. A gyra-control mechanism comprising a gyroscope, e. train gimbal frame carrying said gyroscope for movement in train, an elevation gimbal connected to move in elveation with said gyroscope, a precession torque motor including a rotor, ducts to supply hydraulic-pressure to said motor to exert a rotational force on said rotor, means connecting said rotor to turn in response to movement yof said train gimbal frame and also to transfer torque from said rotor to said frame to cause said gyroecope to precess in elevation,

gapno t second precesalon torque motor lmludlng s rotor. mem.; connecting nld rotor to tum ln respense to movement of nld olevnuon zlmbsl und Lo apply torque from nld second rotor to mld elevnLlon glmbnl to cause nld ayroncope to process in train. and 1o1low-up means including rotatable slmfts actuated vllth the respective precesalon motors to follow the movements of uid tmln zlmbal tramo und of ald elevation glmbal respectively.

REFERENCES CITED j The following references m o( record ln the 111e o( tlm patent.:

UNITED STATE PATENTS Number Number Nsme Dune Lemp Feb. 11, 1902 Olrxrdelll e Jnn. G. 1925 Fleux Apr. 30. 1936 Entes Fcb.8,1945 Knowles et ll. Jun. 14, 1947 FOREIGN PATENTS Country Duw Great, Brlmln Dec. 19, 1931 Oreal. Brluxln Apr. 25. 1935 The Netherlands Junc 16, 1929 

